A Study on Robust Controller Design of Multi-Joint Robot Manipulator Using Adaptive Control

적응제어기법에 의한 다관절 로보트 매니퓰레이터의 견실한 제어기 설계에 관한 연구

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonliearity and parameter uncertainty in robot dynamics model. In this paper, an adaptive control scheme for a robot manipulator is proposed to design robust controller using model reference adaptive control technique and hyperstability theory but it does away with] assumption that the process is characterized by a linear model remaining time invariant during the adaptation process. The performance of controller is demonstrated by the simulation about position and speed control of a six-link manipulator with disturbance and payload variation.